中文摘要：

建立了基于多主体机制的车辆主动后轮转向（ARS）＋ESP集成控制系统,搭建了松耦合协调控制框架以处理相对独立的ARS和ESP之间的合作和竞争,从而提高车辆的操纵稳定性能.采用单片微机和嵌入式实时操作系统,开发了该集成控制系统的控制器原型;基于Matlab/Simulink/dSPACE,搭建ARS＋ESP集成控制系统的ECU硬件在环仿真平台.用此平台进行仿真试验,研究基于多主体机制的集成控制算法在极限工况下的性能.结果表明,与单独的ARS或ESP控制相比,该集成控制系统能更好地实现车辆状态跟踪和稳定操纵.

英文摘要：

A multi-agent based integrated vehicle control system is proposed comprising subsystems of active rear wheel steering（ARS） and electronic stability program（ESP）.In this integrated control,a loosely coupled coordination framework is implemented to deal with cooperation and competition between relatively independent ARS and ESP,in order to enhance maneuverability and stability of the vehicle.Based on single chip microcomputer and the embedded real time operation system,a prototype of the integrated controller is developed.A hardware in the loop（HIL） simulation platform for the integrated control system is built based on Matlab/Simulink/dSPACE,and the prototype is also included in this platform.The HIL simulation is made in critical maneuvering condition to verify the vehicle with the multi-agent based integrated control.Simulation results show that,compared with singleton ARS or ESP,the integrated control achieves better performance of vehicle state tracking and handling stability.